Lane changing decision-making method and device, electronic equipment and storage medium

The invention relates to the technical field of unmanned driving, and discloses a lane changing decision method and device, electronic equipment and a storage medium, and the method comprises the steps: for each candidate lane, determining first key obstacle information affecting the lane changing of a vehicle to a candidate lane based on a predicted driving track; based on the predicted driving track of the reference obstacle of the preset intention, determining second key obstacle information influencing lane change of the vehicle to a candidate lane; based on the principle that the interaction distance is closest, the information of obstacles with the closest interaction distance is reserved, and the information of the obstacles with the closest interaction distance of different candidate lanes forms a first feature obstacle information set; determining a second feature obstacle information set based on the passable distance of the own vehicle in the current lane and the lane changing distance required for